arxivcs.RO2026-07-11
SUREFlow: State-space Uncertainty-aware REsidual Flow Matching for Robust Robot Manipulation
Md Tanvir Islam, Sai Navaneet Peddapalli, Sangmoon Lee, Sangtae Ahn
Generative vision-language-action policies have advanced robot manipulation, but they often exhibit instability under noise, partial observability, and stochastic initial conditions. During extended rollouts, small velocity errors accumulate, degrading execution reliability. Exis…